This repository is a sample control repository for Interbotix PX150 Arm.
Before getting started, make sure interbotix arm development kit is installed. Check out the installation link.
To start the interbotix arm in simulation, use the command:
ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=px150 hardware_type:=fake // start interbotix arm
ros2 launch c_moveit_config demo.launch.py // start walli
Note that the last parameter determines controlling target for startimng up interbotix arm. It can take value of "actual" (real robot), "fake" (simulated hardware) and "gz_classic" (gazebo).
To start the arm sever, use the command:
ros2 launch arm_test armrt.launch.py // realtime servo and pose trakcing
ros2 launch arm_test armrt_walli.launch.py // walli realtime servo and pose tracking
To start keyboard control, use the command:
ros2 run arm_test servo_keyboard
Note that the parameters inside servo_keyboard is configed for controlling walli. Parameters (e.g. end effector link name) should be changed if you want to control other arms.